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@@ -33,3 +33,11 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+ogbench/antmaze-medium-navigate-v0/0/wandb/run-20260430_224740-c5i9vca4/run-c5i9vca4.wandb filter=lfs diff=lfs merge=lfs -text
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ogbench/antmaze-medium-navigate-v0/0/.hydra/config.yaml

@@ -0,0 +1,126 @@
+experiment_name: dynamics/ifactor/ogbench/${env_name}
+save_path: models_out/${experiment_name}
+cuda_device: 0
+seed: 0
+debug: false
+type: dynamics
+env_name: antmaze-medium-navigate-v0
+data_module:
+  _target_: common.data_modules.ogbench_sequence.OGBenchSASSequence
+  env_name: ${env_name}
+  dataset_dir: null
+  batch_size: 256
+  num_workers: 4
+  pin_memory: true
+  seed: ${seed}
+trainer:
+  max_epochs: 250
+  accelerator: gpu
+  devices:
+  - 0
+  strategy: auto
+  precision: 32
+early_stopping:
+  patience: 100
+  min_delta: 0.0
+  monitor: val/loss
+  mode: min
+logger:
+  _target_: pytorch_lightning.loggers.wandb.WandbLogger
+  name: ${experiment_name}/seed_${seed}
+  project: fusion-ifactor-ogbench
+  log_model: false
+  offline: false
+model:
+  _target_: dynamics.models.ifactor.IFactor
+  sa_dim: 256
+  sac_dim: 256
+  action_encode_dim: 64
+  mi_steps: 3
+  grad_clip_norm: 100.0
+  obs_weight: 10
+  kl_weight: 1
+  mi_weight: 1
+  rnn_type: gru
+  rnn_num_layers: 1
+  learning_rate: 0.0003
+  weight_decay: 0.001
+  state_encoder_cfg:
+    _target_: common.models.PNN
+    encoder_output_dim: 512
+    logvar_lower_bound: -10
+    logvar_upper_bound: 0.5
+    encoder_cfg:
+      _target_: common.models.MLP
+      hidden_sizes:
+      - 512
+      hidden_activation: relu
+    mean_net_cfg:
+      _target_: common.models.MLP
+      hidden_sizes: []
+      hidden_activation: relu
+    logvar_net_cfg:
+      _target_: common.models.MLP
+      hidden_sizes: []
+      hidden_activation: relu
+  state_decoder_cfg:
+    _target_: common.models.PNN
+    encoder_output_dim: 512
+    logvar_lower_bound: -10
+    logvar_upper_bound: 0.5
+    encoder_cfg:
+      _target_: common.models.MLP
+      hidden_sizes:
+      - 512
+      hidden_activation: relu
+    mean_net_cfg:
+      _target_: common.models.MLP
+      hidden_sizes: []
+      hidden_activation: relu
+    logvar_net_cfg:
+      _target_: common.models.MLP
+      hidden_sizes: []
+      hidden_activation: relu
+  action_encoder_cfg:
+    _target_: common.models.MLP
+    hidden_sizes:
+    - 64
+    hidden_activation: relu
+  sa_decoder_cfg:
+    _target_: common.models.PNN
+    encoder_output_dim: 256
+    logvar_lower_bound: -10
+    logvar_upper_bound: 0.5
+    encoder_cfg:
+      _target_: common.models.MLP
+      hidden_sizes:
+      - 256
+      hidden_activation: relu
+    mean_net_cfg:
+      _target_: common.models.MLP
+      hidden_sizes: []
+      hidden_activation: relu
+    logvar_net_cfg:
+      _target_: common.models.MLP
+      hidden_sizes: []
+      hidden_activation: relu
+  sac_decoder_cfg:
+    _target_: common.models.PNN
+    encoder_output_dim: 256
+    logvar_lower_bound: -10
+    logvar_upper_bound: 0.5
+    encoder_cfg:
+      _target_: common.models.MLP
+      hidden_sizes:
+      - 256
+      hidden_activation: relu
+    mean_net_cfg:
+      _target_: common.models.MLP
+      hidden_sizes: []
+      hidden_activation: relu
+    logvar_net_cfg:
+      _target_: common.models.MLP
+      hidden_sizes: []
+      hidden_activation: relu
+  mine_cfg:
+    _target_: common.models.MINE

ogbench/antmaze-medium-navigate-v0/0/.hydra/hydra.yaml

@@ -0,0 +1,155 @@
+hydra:
+  run:
+    dir: ${save_path}/${seed}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - env_name=antmaze-medium-navigate-v0
+  job:
+    name: train_pl
+    chdir: null
+    override_dirname: env_name=antmaze-medium-navigate-v0
+    id: ???
+    num: ???
+    config_name: dynamics_ifactor_ogbench
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.1'
+    cwd: /zfsauton2/home/frankwu2/namrata/fusion-hub
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /zfsauton2/home/frankwu2/namrata/fusion-hub/cfgs/pl_cfgs/dynamics
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /zfsauton2/home/frankwu2/namrata/fusion-hub/models_out/dynamics/ifactor/ogbench/antmaze-medium-navigate-v0/0
+    choices:
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

ogbench/antmaze-medium-navigate-v0/0/.hydra/overrides.yaml

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ogbench/antmaze-medium-navigate-v0/0/fusion-ifactor-ogbench/c5i9vca4/checkpoints/epoch=247-step=2976.ckpt

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ogbench/antmaze-medium-navigate-v0/0/train_pl.log

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+            encoder_cfg:
+                _target_: common.models.MLP
+                hidden_activation: relu
+                hidden_sizes:
+                    - 512
+            encoder_output_dim: 512
+            logvar_lower_bound: -10
+            logvar_net_cfg:
+                _target_: common.models.MLP
+                hidden_activation: relu
+                hidden_sizes: []
+            logvar_upper_bound: 0.5
+            mean_net_cfg:
+                _target_: common.models.MLP
+                hidden_activation: relu
+                hidden_sizes: []
+        weight_decay: 0.001
+trainer:
+    value:
+        accelerator: gpu
+        devices:
+            - 0
+        max_epochs: 250
+        precision: 32
+        strategy: auto

ogbench/antmaze-medium-navigate-v0/0/wandb/run-20260430_224740-c5i9vca4/files/output.log

@@ -0,0 +1,31 @@
+wandb: logging graph, to disable use `wandb.watch(log_graph=False)`
+GPU available: True (cuda), used: True
+TPU available: False, using: 0 TPU cores
+HPU available: False, using: 0 HPUs
+You are using a CUDA device ('NVIDIA RTX A6000') that has Tensor Cores. To properly utilize them, you should set `torch.set_float32_matmul_precision('medium' | 'high')` which will trade-off precision for performance. For more details, read https://pytorch.org/docs/stable/generated/torch.set_float32_matmul_precision.html#torch.set_float32_matmul_precision
+LOCAL_RANK: 0 - CUDA_VISIBLE_DEVICES: [0]
+
+  | Name            | Type       | Params | Mode
+-------------------------------------------------------
+0 | normalizer      | Normalizer | 0      | train
+1 | action_encoder  | MLP        | 4.7 K  | train
+2 | state_encoder   | PNN        | 804 K  | train
+3 | state_decoder   | PNN        | 555 K  | train
+4 | sa_memory_unit  | GRU        | 443 K  | train
+5 | sac_memory_unit | GRU        | 394 K  | train
+6 | sa_decoder      | PNN        | 263 K  | train
+7 | sac_decoder     | PNN        | 263 K  | train
+8 | mine_sa         | MINE       | 123 K  | train
+9 | mine_sac        | MINE       | 123 K  | train
+-------------------------------------------------------
+3.0 M     Trainable params
+0         Non-trainable params
+3.0 M     Total params
+11.907    Total estimated model params size (MB)
+48        Modules in train mode
+0         Modules in eval mode
+SLURM auto-requeueing enabled. Setting signal handlers.
+Epoch 249: 100%|██████████| 3/3 [00:02<00:00,  1.03it/s, v_num=vca4, train/loss=-16.6, val/loss=-16.1]  
+/zfsauton2/home/frankwu2/namrata/fusion-hub/.venv/lib/python3.10/site-packages/pytorch_lightning/loops/fit_loop.py:298: The number of training batches (3) is smaller than the logging interval Trainer(log_every_n_steps=50). Set a lower value for log_every_n_steps if you want to see logs for the training epoch.
+                                                                      
+`Trainer.fit` stopped: `max_epochs=250` reached.

ogbench/antmaze-medium-navigate-v0/0/wandb/run-20260430_224740-c5i9vca4/files/requirements.txt

@@ -0,0 +1,124 @@
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+torchmetrics==1.9.0
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+PyYAML==6.0.3
+nvidia-cuda-nvrtc-cu12==12.1.105
+fonttools==4.62.1
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+Werkzeug==3.1.8
+async-timeout==5.0.1
+mujoco==3.8.0
+tokenizers==0.20.3
+wandb==0.26.1
+dm-env==1.6
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+attrs==26.1.0
+huggingface_hub==0.36.2
+h11==0.16.0
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+absl-py==2.4.0
+nvidia-nccl-cu12==2.20.5
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+cloudpickle==3.1.2
+typing_extensions==4.15.0
+certifi==2026.4.22
+typing-inspection==0.4.2
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+frozenlist==1.8.0
+ogbench==1.2.1
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+regex==2026.4.4
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+filelock==3.29.0
+diffusers==0.37.1
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+dm-tree==0.1.10
+nvidia-cufft-cu12==11.0.2.54
+Farama-Notifications==0.0.6
+aiosignal==1.4.0
+aiohttp==3.13.5
+urllib3==2.6.3
+httpcore==1.0.9
+protobuf==7.34.1
+tomli==2.0.1
+platformdirs==4.2.2
+typeguard==4.3.0
+packaging==24.2
+typing_extensions==4.12.2
+wheel==0.45.1
+jaraco.functools==4.0.1
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+inflect==7.3.1
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+jaraco.collections==5.1.0
+jaraco.context==5.3.0
+more-itertools==10.3.0
+autocommand==2.2.2
+importlib_metadata==8.0.0

ogbench/antmaze-medium-navigate-v0/0/wandb/run-20260430_224740-c5i9vca4/files/wandb-metadata.json

@@ -0,0 +1,86 @@
+{
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+    "--config-name",
+    "dynamics_ifactor_ogbench",
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+  "program":  "/zfsauton2/home/frankwu2/namrata/fusion-hub/train_pl.py",
+  "codePath":  "train_pl.py",
+  "git":  {
+    "remote":  "https://github.com/namratadeka/fusion-hub.git",
+    "commit":  "f948f6da808c693a73595147daef5a9606ab86c3"
+  },
+  "email":  "zw2700@nyu.edu",
+  "root":  ".",
+  "host":  "gpu29",
+  "executable":  "/zfsauton2/home/frankwu2/namrata/fusion-hub/.venv/bin/python3",
+  "cpu_count":  64,
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+  "gpu":  "NVIDIA RTX A6000",
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+    "gtids":  "0",
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ogbench/antmaze-medium-navigate-v0/0/wandb/run-20260430_224740-c5i9vca4/files/wandb-summary.json

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ogbench/antmaze-medium-navigate-v0/0/wandb/run-20260430_224740-c5i9vca4/logs/debug-core.log

@@ -0,0 +1,15 @@
+{"time":"2026-04-30T22:47:40.861622489-04:00","level":"INFO","msg":"main: starting server","port-filename":"/tmp/tmpizh45nhu/port-126776.txt","pid":126776,"detached":false,"idle-timeout":600000000000,"log-level":0,"disable-analytics":false,"shutdown-on-parent-exit":false,"enable-dcgm-profiling":false}
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+{"time":"2026-04-30T22:47:40.863829079-04:00","level":"INFO","msg":"server: will exit if parent process dies","ppid":126776}
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+experiment_name: dynamics/ifactor/ogbench/${env_name}
+save_path: models_out/${experiment_name}
+cuda_device: 0
+seed: 1
+debug: false
+type: dynamics
+env_name: antmaze-medium-navigate-v0
+data_module:
+  _target_: common.data_modules.ogbench_sequence.OGBenchSASSequence
+  env_name: ${env_name}
+  dataset_dir: null
+  batch_size: 256
+  num_workers: 4
+  pin_memory: true
+  seed: ${seed}
+trainer:
+  max_epochs: 250
+  accelerator: gpu
+  devices:
+  - 0
+  strategy: auto
+  precision: 32
+early_stopping:
+  patience: 100
+  min_delta: 0.0
+  monitor: val/loss
+  mode: min
+logger:
+  _target_: pytorch_lightning.loggers.wandb.WandbLogger
+  name: ${experiment_name}/seed_${seed}
+  project: fusion-ifactor-ogbench
+  log_model: false
+  offline: false
+model:
+  _target_: dynamics.models.ifactor.IFactor
+  sa_dim: 256
+  sac_dim: 256
+  action_encode_dim: 64
+  mi_steps: 3
+  grad_clip_norm: 100.0
+  obs_weight: 10
+  kl_weight: 1
+  mi_weight: 1
+  rnn_type: gru
+  rnn_num_layers: 1
+  learning_rate: 0.0003
+  weight_decay: 0.001
+  state_encoder_cfg:
+    _target_: common.models.PNN
+    encoder_output_dim: 512
+    logvar_lower_bound: -10
+    logvar_upper_bound: 0.5
+    encoder_cfg:
+      _target_: common.models.MLP
+      hidden_sizes:
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+      hidden_activation: relu
+    mean_net_cfg:
+      _target_: common.models.MLP
+      hidden_sizes: []
+      hidden_activation: relu
+    logvar_net_cfg:
+      _target_: common.models.MLP
+      hidden_sizes: []
+      hidden_activation: relu
+  state_decoder_cfg:
+    _target_: common.models.PNN
+    encoder_output_dim: 512
+    logvar_lower_bound: -10
+    logvar_upper_bound: 0.5
+    encoder_cfg:
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+      hidden_sizes: []
+      hidden_activation: relu
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+    _target_: common.models.MLP
+    hidden_sizes:
+    - 64
+    hidden_activation: relu
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+    logvar_lower_bound: -10
+    logvar_upper_bound: 0.5
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+    logvar_upper_bound: 0.5
+    encoder_cfg:
+      _target_: common.models.MLP
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+  mine_cfg:
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ogbench/antmaze-medium-navigate-v0/1/.hydra/hydra.yaml

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+  sweep:
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+    subdir: ${hydra.job.num}
+  launcher:
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+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
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+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
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+      Override anything in the config (foo.bar=value)
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+
+      $CONFIG
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+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
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+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
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+
+
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+
+      Use ''--cfg hydra'' to Show the Hydra config.
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+      '
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+    formatters:
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+        formatter: simple
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+      file:
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+        formatter: simple
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+    root:
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+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
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+  job:
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+    override_dirname: env_name=antmaze-medium-navigate-v0,seed=1
+    id: ???
+    num: ???
+    config_name: dynamics_ifactor_ogbench
+    env_set: {}
+    env_copy: []
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+    cwd: /zfsauton2/home/frankwu2/namrata/fusion-hub
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+      provider: hydra
+    - path: /zfsauton2/home/frankwu2/namrata/fusion-hub/cfgs/pl_cfgs/dynamics
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /zfsauton2/home/frankwu2/namrata/fusion-hub/models_out/dynamics/ifactor/ogbench/antmaze-medium-navigate-v0/1
+    choices:
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ogbench/antmaze-medium-navigate-v0/1/wandb/run-20260501_062606-h56gngd7/files/config.yaml

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+                    - --config-path
+                    - cfgs/pl_cfgs/dynamics
+                    - --config-name
+                    - dynamics_ifactor_ogbench
+                    - env_name=antmaze-medium-navigate-v0
+                    - seed=1
+                codePath: train_pl.py
+                cpu_count: 64
+                cpu_count_logical: 128
+                cudaVersion: "13.0"
+                disk:
+                    /:
+                        total: "1916531638272"
+                        used: "251784904704"
+                email: zw2700@nyu.edu
+                executable: /zfsauton2/home/frankwu2/namrata/fusion-hub/.venv/bin/python3
+                git:
+                    commit: f948f6da808c693a73595147daef5a9606ab86c3
+                    remote: https://github.com/namratadeka/fusion-hub.git
+                gpu: NVIDIA RTX A6000
+                gpu_count: 1
+                gpu_nvidia:
+                    - architecture: Ampere
+                      cudaCores: 10752
+                      memoryTotal: "51527024640"
+                      name: NVIDIA RTX A6000
+                      uuid: GPU-bd7a1805-2f70-5fcb-72a2-b4eec07dc21b
+                host: gpu24
+                memory:
+                    total: "540834430976"
+                os: Linux-6.4.0-150600.23.87-default-x86_64-with-glibc2.38
+                program: /zfsauton2/home/frankwu2/namrata/fusion-hub/train_pl.py
+                python: CPython 3.10.20
+                root: .
+                slurm:
+                    cluster_name: auton
+                    conf: /etc/slurm/slurm.conf
+                    cpus_on_node: "4"
+                    cpus_per_task: "4"
+                    export_env: ALL,SEED=1
+                    get_user_env: "1"
+                    gpus_on_node: "1"
+                    gtids: "0"
+                    job_account: users
+                    job_cpus_per_node: "4"
+                    job_end_time: "1777803954"
+                    job_gid: "1449"
+                    job_gpus: "7"
+                    job_id: "8302"
+                    job_name: ogbench_pl
+                    job_nodelist: gpu24
+                    job_num_nodes: "1"
+                    job_partition: general
+                    job_qos: qos_general
+                    job_start_time: "1777631154"
+                    job_uid: "1449"
+                    job_user: frankwu2
+                    jobid: "8302"
+                    localid: "0"
+                    mem_per_node: "32768"
+                    nnodes: "1"
+                    nodeid: "0"
+                    nodelist: gpu24
+                    nprocs: "1"
+                    ntasks: "1"
+                    oom_kill_step: "0"
+                    prio_process: "0"
+                    procid: "0"
+                    submit_dir: /zfsauton2/home/frankwu2/namrata/fusion-hub
+                    submit_host: rhea.int.autonlab.org
+                    task_pid: "33851"
+                    tasks_per_node: "1"
+                    topology_addr: gpu24
+                    topology_addr_pattern: node
+                    tres_per_task: cpu=4
+                startedAt: "2026-05-01T10:26:06.859706Z"
+                writerId: dg2q5cjwdlbqlsxeue6xwf0dw95hny5s
+        m:
+            - "1": trainer/global_step
+              "6":
+                - 3
+              "7": []
+            - "2": '*'
+              "5": 1
+              "6":
+                - 1
+              "7": []
+        python_version: 3.10.20
+        t:
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+                - 1
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+            "4": 3.10.20
+            "5": 0.26.1
+            "6": 4.46.0
+            "12": 0.26.1
+            "13": linux-x86_64
+data_module:
+    value:
+        _target_: common.data_modules.ogbench_sequence.OGBenchSASSequence
+        batch_size: 256
+        dataset_dir: null
+        env_name: antmaze-medium-navigate-v0
+        num_workers: 4
+        pin_memory: true
+        seed: 1
+model:
+    value:
+        _target_: dynamics.models.ifactor.IFactor
+        action_encode_dim: 64
+        action_encoder_cfg:
+            _target_: common.models.MLP
+            hidden_activation: relu
+            hidden_sizes:
+                - 64
+        grad_clip_norm: 100
+        kl_weight: 1
+        learning_rate: 0.0003
+        mi_steps: 3
+        mi_weight: 1
+        mine_cfg:
+            _target_: common.models.MINE
+        obs_weight: 10
+        rnn_num_layers: 1
+        rnn_type: gru
+        sa_decoder_cfg:
+            _target_: common.models.PNN
+            encoder_cfg:
+                _target_: common.models.MLP
+                hidden_activation: relu
+                hidden_sizes:
+                    - 256
+            encoder_output_dim: 256
+            logvar_lower_bound: -10
+            logvar_net_cfg:
+                _target_: common.models.MLP
+                hidden_activation: relu
+                hidden_sizes: []
+            logvar_upper_bound: 0.5
+            mean_net_cfg:
+                _target_: common.models.MLP
+                hidden_activation: relu
+                hidden_sizes: []
+        sa_dim: 256
+        sac_decoder_cfg:
+            _target_: common.models.PNN
+            encoder_cfg:
+                _target_: common.models.MLP
+                hidden_activation: relu
+                hidden_sizes:
+                    - 256
+            encoder_output_dim: 256
+            logvar_lower_bound: -10
+            logvar_net_cfg:
+                _target_: common.models.MLP
+                hidden_activation: relu
+                hidden_sizes: []
+            logvar_upper_bound: 0.5
+            mean_net_cfg:
+                _target_: common.models.MLP
+                hidden_activation: relu
+                hidden_sizes: []
+        sac_dim: 256
+        state_decoder_cfg:
+            _target_: common.models.PNN
+            encoder_cfg:
+                _target_: common.models.MLP
+                hidden_activation: relu
+                hidden_sizes:
+                    - 512
+            encoder_output_dim: 512
+            logvar_lower_bound: -10
+            logvar_net_cfg:
+                _target_: common.models.MLP
+                hidden_activation: relu
+                hidden_sizes: []
+            logvar_upper_bound: 0.5
+            mean_net_cfg:
+                _target_: common.models.MLP
+                hidden_activation: relu
+                hidden_sizes: []
+        state_encoder_cfg:
+            _target_: common.models.PNN
+            encoder_cfg:
+                _target_: common.models.MLP
+                hidden_activation: relu
+                hidden_sizes:
+                    - 512
+            encoder_output_dim: 512
+            logvar_lower_bound: -10
+            logvar_net_cfg:
+                _target_: common.models.MLP
+                hidden_activation: relu
+                hidden_sizes: []
+            logvar_upper_bound: 0.5
+            mean_net_cfg:
+                _target_: common.models.MLP
+                hidden_activation: relu
+                hidden_sizes: []
+        weight_decay: 0.001
+trainer:
+    value:
+        accelerator: gpu
+        devices:
+            - 0
+        max_epochs: 250
+        precision: 32
+        strategy: auto

ogbench/antmaze-medium-navigate-v0/1/wandb/run-20260501_062606-h56gngd7/files/output.log

@@ -0,0 +1,31 @@
+wandb: logging graph, to disable use `wandb.watch(log_graph=False)`
+GPU available: True (cuda), used: True
+TPU available: False, using: 0 TPU cores
+HPU available: False, using: 0 HPUs
+You are using a CUDA device ('NVIDIA RTX A6000') that has Tensor Cores. To properly utilize them, you should set `torch.set_float32_matmul_precision('medium' | 'high')` which will trade-off precision for performance. For more details, read https://pytorch.org/docs/stable/generated/torch.set_float32_matmul_precision.html#torch.set_float32_matmul_precision
+LOCAL_RANK: 0 - CUDA_VISIBLE_DEVICES: [0]
+
+  | Name            | Type       | Params | Mode
+-------------------------------------------------------
+0 | normalizer      | Normalizer | 0      | train
+1 | action_encoder  | MLP        | 4.7 K  | train
+2 | state_encoder   | PNN        | 804 K  | train
+3 | state_decoder   | PNN        | 555 K  | train
+4 | sa_memory_unit  | GRU        | 443 K  | train
+5 | sac_memory_unit | GRU        | 394 K  | train
+6 | sa_decoder      | PNN        | 263 K  | train
+7 | sac_decoder     | PNN        | 263 K  | train
+8 | mine_sa         | MINE       | 123 K  | train
+9 | mine_sac        | MINE       | 123 K  | train
+-------------------------------------------------------
+3.0 M     Trainable params
+0         Non-trainable params
+3.0 M     Total params
+11.907    Total estimated model params size (MB)
+48        Modules in train mode
+0         Modules in eval mode
+SLURM auto-requeueing enabled. Setting signal handlers.
+Epoch 249: 100%|██████████| 3/3 [00:03<00:00,  0.89it/s, v_num=ngd7, train/loss=-17.5, val/loss=-15.7]   
+/zfsauton2/home/frankwu2/namrata/fusion-hub/.venv/lib/python3.10/site-packages/pytorch_lightning/loops/fit_loop.py:298: The number of training batches (3) is smaller than the logging interval Trainer(log_every_n_steps=50). Set a lower value for log_every_n_steps if you want to see logs for the training epoch.
+                                                                      
+`Trainer.fit` stopped: `max_epochs=250` reached.

ogbench/antmaze-medium-navigate-v0/1/wandb/run-20260501_062606-h56gngd7/files/requirements.txt

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+fonttools==4.62.1
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+wandb==0.26.1
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ogbench/antmaze-medium-navigate-v0/1/wandb/run-20260501_062606-h56gngd7/files/wandb-metadata.json

@@ -0,0 +1,89 @@
+{
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+  "python":  "CPython 3.10.20",
+  "startedAt":  "2026-05-01T10:26:06.859706Z",
+  "args":  [
+    "--config-path",
+    "cfgs/pl_cfgs/dynamics",
+    "--config-name",
+    "dynamics_ifactor_ogbench",
+    "env_name=antmaze-medium-navigate-v0",
+    "seed=1"
+  ],
+  "program":  "/zfsauton2/home/frankwu2/namrata/fusion-hub/train_pl.py",
+  "codePath":  "train_pl.py",
+  "git":  {
+    "remote":  "https://github.com/namratadeka/fusion-hub.git",
+    "commit":  "f948f6da808c693a73595147daef5a9606ab86c3"
+  },
+  "email":  "zw2700@nyu.edu",
+  "root":  ".",
+  "host":  "gpu24",
+  "executable":  "/zfsauton2/home/frankwu2/namrata/fusion-hub/.venv/bin/python3",
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+  "gpu":  "NVIDIA RTX A6000",
+  "gpu_count":  1,
+  "disk":  {
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+      "used":  "251784904704"
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+  "gpu_nvidia":  [
+    {
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+      "architecture":  "Ampere",
+      "uuid":  "GPU-bd7a1805-2f70-5fcb-72a2-b4eec07dc21b"
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+    "job_name":  "ogbench_pl",
+    "job_nodelist":  "gpu24",
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+    "job_partition":  "general",
+    "job_qos":  "qos_general",
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+    "job_user":  "frankwu2",
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+    "procid":  "0",
+    "submit_dir":  "/zfsauton2/home/frankwu2/namrata/fusion-hub",
+    "submit_host":  "rhea.int.autonlab.org",
+    "task_pid":  "33851",
+    "tasks_per_node":  "1",
+    "topology_addr":  "gpu24",
+    "topology_addr_pattern":  "node",
+    "tres_per_task":  "cpu=4"
+  },
+  "writerId":  "dg2q5cjwdlbqlsxeue6xwf0dw95hny5s"
+}

ogbench/antmaze-medium-navigate-v0/1/wandb/run-20260501_062606-h56gngd7/files/wandb-summary.json

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ogbench/antmaze-medium-navigate-v0/1/wandb/run-20260501_062606-h56gngd7/logs/debug-internal.log

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+experiment_name: dynamics/ifactor/ogbench/${env_name}
+save_path: models_out/${experiment_name}
+cuda_device: 0
+seed: 2
+debug: false
+type: dynamics
+env_name: antmaze-medium-navigate-v0
+data_module:
+  _target_: common.data_modules.ogbench_sequence.OGBenchSASSequence
+  env_name: ${env_name}
+  dataset_dir: null
+  batch_size: 256
+  num_workers: 4
+  pin_memory: true
+  seed: ${seed}
+trainer:
+  max_epochs: 250
+  accelerator: gpu
+  devices:
+  - 0
+  strategy: auto
+  precision: 32
+early_stopping:
+  patience: 100
+  min_delta: 0.0
+  monitor: val/loss
+  mode: min
+logger:
+  _target_: pytorch_lightning.loggers.wandb.WandbLogger
+  name: ${experiment_name}/seed_${seed}
+  project: fusion-ifactor-ogbench
+  log_model: false
+  offline: false
+model:
+  _target_: dynamics.models.ifactor.IFactor
+  sa_dim: 256
+  sac_dim: 256
+  action_encode_dim: 64
+  mi_steps: 3
+  grad_clip_norm: 100.0
+  obs_weight: 10
+  kl_weight: 1
+  mi_weight: 1
+  rnn_type: gru
+  rnn_num_layers: 1
+  learning_rate: 0.0003
+  weight_decay: 0.001
+  state_encoder_cfg:
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+    logvar_lower_bound: -10
+    logvar_upper_bound: 0.5
+    encoder_cfg:
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+      hidden_activation: relu
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+      hidden_activation: relu
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+      _target_: common.models.MLP
+      hidden_sizes: []
+      hidden_activation: relu
+  state_decoder_cfg:
+    _target_: common.models.PNN
+    encoder_output_dim: 512
+    logvar_lower_bound: -10
+    logvar_upper_bound: 0.5
+    encoder_cfg:
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+      hidden_sizes: []
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+    - 64
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+    logvar_lower_bound: -10
+    logvar_upper_bound: 0.5
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+    logvar_upper_bound: 0.5
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+      _target_: common.models.MLP
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ogbench/antmaze-medium-navigate-v0/2/.hydra/hydra.yaml

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+    subdir: ${hydra.job.num}
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+  help:
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+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
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+    template: '${hydra.help.header}
+
+      == Configuration groups ==
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+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
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+      Override anything in the config (foo.bar=value)
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+
+      $CONFIG
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+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
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+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
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+
+
+      $HYDRA_CONFIG_GROUPS
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+
+      Use ''--cfg hydra'' to Show the Hydra config.
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+    formatters:
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+        formatter: simple
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+    root:
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+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
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+    - seed=2
+  job:
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+    override_dirname: env_name=antmaze-medium-navigate-v0,seed=2
+    id: ???
+    num: ???
+    config_name: dynamics_ifactor_ogbench
+    env_set: {}
+    env_copy: []
+    config:
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+    cwd: /zfsauton2/home/frankwu2/namrata/fusion-hub
+    config_sources:
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+      provider: hydra
+    - path: /zfsauton2/home/frankwu2/namrata/fusion-hub/cfgs/pl_cfgs/dynamics
+      schema: file
+      provider: main
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+      schema: structured
+      provider: schema
+    output_dir: /zfsauton2/home/frankwu2/namrata/fusion-hub/models_out/dynamics/ifactor/ogbench/antmaze-medium-navigate-v0/2
+    choices:
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ogbench/antmaze-medium-navigate-v0/2/wandb/run-20260501_062606-fom1lwto/files/config.yaml

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+                    - --config-path
+                    - cfgs/pl_cfgs/dynamics
+                    - --config-name
+                    - dynamics_ifactor_ogbench
+                    - env_name=antmaze-medium-navigate-v0
+                    - seed=2
+                codePath: train_pl.py
+                cpu_count: 64
+                cpu_count_logical: 128
+                cudaVersion: "13.0"
+                disk:
+                    /:
+                        total: "1916531638272"
+                        used: "251784904704"
+                email: zw2700@nyu.edu
+                executable: /zfsauton2/home/frankwu2/namrata/fusion-hub/.venv/bin/python3
+                git:
+                    commit: f948f6da808c693a73595147daef5a9606ab86c3
+                    remote: https://github.com/namratadeka/fusion-hub.git
+                gpu: NVIDIA RTX A6000
+                gpu_count: 1
+                gpu_nvidia:
+                    - architecture: Ampere
+                      cudaCores: 10752
+                      memoryTotal: "51527024640"
+                      name: NVIDIA RTX A6000
+                      uuid: GPU-47917739-afae-4519-36c4-34ce7bf5aabe
+                host: gpu24
+                memory:
+                    total: "540834430976"
+                os: Linux-6.4.0-150600.23.87-default-x86_64-with-glibc2.38
+                program: /zfsauton2/home/frankwu2/namrata/fusion-hub/train_pl.py
+                python: CPython 3.10.20
+                root: .
+                slurm:
+                    cluster_name: auton
+                    conf: /etc/slurm/slurm.conf
+                    cpus_on_node: "4"
+                    cpus_per_task: "4"
+                    export_env: ALL,SEED=2
+                    get_user_env: "1"
+                    gpus_on_node: "1"
+                    gtids: "0"
+                    job_account: users
+                    job_cpus_per_node: "4"
+                    job_end_time: "1777803954"
+                    job_gid: "1449"
+                    job_gpus: "3"
+                    job_id: "8303"
+                    job_name: ogbench_pl
+                    job_nodelist: gpu24
+                    job_num_nodes: "1"
+                    job_partition: general
+                    job_qos: qos_general
+                    job_start_time: "1777631154"
+                    job_uid: "1449"
+                    job_user: frankwu2
+                    jobid: "8303"
+                    localid: "0"
+                    mem_per_node: "32768"
+                    nnodes: "1"
+                    nodeid: "0"
+                    nodelist: gpu24
+                    nprocs: "1"
+                    ntasks: "1"
+                    oom_kill_step: "0"
+                    prio_process: "0"
+                    procid: "0"
+                    submit_dir: /zfsauton2/home/frankwu2/namrata/fusion-hub
+                    submit_host: rhea.int.autonlab.org
+                    task_pid: "33850"
+                    tasks_per_node: "1"
+                    topology_addr: gpu24
+                    topology_addr_pattern: node
+                    tres_per_task: cpu=4
+                startedAt: "2026-05-01T10:26:06.847899Z"
+                writerId: bdanal52nsha0quc7k4dzsent5vgajbx
+        m:
+            - "1": trainer/global_step
+              "6":
+                - 3
+              "7": []
+            - "2": '*'
+              "5": 1
+              "6":
+                - 1
+              "7": []
+        python_version: 3.10.20
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+            "4": 3.10.20
+            "5": 0.26.1
+            "6": 4.46.0
+            "12": 0.26.1
+            "13": linux-x86_64
+data_module:
+    value:
+        _target_: common.data_modules.ogbench_sequence.OGBenchSASSequence
+        batch_size: 256
+        dataset_dir: null
+        env_name: antmaze-medium-navigate-v0
+        num_workers: 4
+        pin_memory: true
+        seed: 2
+model:
+    value:
+        _target_: dynamics.models.ifactor.IFactor
+        action_encode_dim: 64
+        action_encoder_cfg:
+            _target_: common.models.MLP
+            hidden_activation: relu
+            hidden_sizes:
+                - 64
+        grad_clip_norm: 100
+        kl_weight: 1
+        learning_rate: 0.0003
+        mi_steps: 3
+        mi_weight: 1
+        mine_cfg:
+            _target_: common.models.MINE
+        obs_weight: 10
+        rnn_num_layers: 1
+        rnn_type: gru
+        sa_decoder_cfg:
+            _target_: common.models.PNN
+            encoder_cfg:
+                _target_: common.models.MLP
+                hidden_activation: relu
+                hidden_sizes:
+                    - 256
+            encoder_output_dim: 256
+            logvar_lower_bound: -10
+            logvar_net_cfg:
+                _target_: common.models.MLP
+                hidden_activation: relu
+                hidden_sizes: []
+            logvar_upper_bound: 0.5
+            mean_net_cfg:
+                _target_: common.models.MLP
+                hidden_activation: relu
+                hidden_sizes: []
+        sa_dim: 256
+        sac_decoder_cfg:
+            _target_: common.models.PNN
+            encoder_cfg:
+                _target_: common.models.MLP
+                hidden_activation: relu
+                hidden_sizes:
+                    - 256
+            encoder_output_dim: 256
+            logvar_lower_bound: -10
+            logvar_net_cfg:
+                _target_: common.models.MLP
+                hidden_activation: relu
+                hidden_sizes: []
+            logvar_upper_bound: 0.5
+            mean_net_cfg:
+                _target_: common.models.MLP
+                hidden_activation: relu
+                hidden_sizes: []
+        sac_dim: 256
+        state_decoder_cfg:
+            _target_: common.models.PNN
+            encoder_cfg:
+                _target_: common.models.MLP
+                hidden_activation: relu
+                hidden_sizes:
+                    - 512
+            encoder_output_dim: 512
+            logvar_lower_bound: -10
+            logvar_net_cfg:
+                _target_: common.models.MLP
+                hidden_activation: relu
+                hidden_sizes: []
+            logvar_upper_bound: 0.5
+            mean_net_cfg:
+                _target_: common.models.MLP
+                hidden_activation: relu
+                hidden_sizes: []
+        state_encoder_cfg:
+            _target_: common.models.PNN
+            encoder_cfg:
+                _target_: common.models.MLP
+                hidden_activation: relu
+                hidden_sizes:
+                    - 512
+            encoder_output_dim: 512
+            logvar_lower_bound: -10
+            logvar_net_cfg:
+                _target_: common.models.MLP
+                hidden_activation: relu
+                hidden_sizes: []
+            logvar_upper_bound: 0.5
+            mean_net_cfg:
+                _target_: common.models.MLP
+                hidden_activation: relu
+                hidden_sizes: []
+        weight_decay: 0.001
+trainer:
+    value:
+        accelerator: gpu
+        devices:
+            - 0
+        max_epochs: 250
+        precision: 32
+        strategy: auto

ogbench/antmaze-medium-navigate-v0/2/wandb/run-20260501_062606-fom1lwto/files/output.log

@@ -0,0 +1,31 @@
+wandb: logging graph, to disable use `wandb.watch(log_graph=False)`
+GPU available: True (cuda), used: True
+TPU available: False, using: 0 TPU cores
+HPU available: False, using: 0 HPUs
+You are using a CUDA device ('NVIDIA RTX A6000') that has Tensor Cores. To properly utilize them, you should set `torch.set_float32_matmul_precision('medium' | 'high')` which will trade-off precision for performance. For more details, read https://pytorch.org/docs/stable/generated/torch.set_float32_matmul_precision.html#torch.set_float32_matmul_precision
+LOCAL_RANK: 0 - CUDA_VISIBLE_DEVICES: [0]
+
+  | Name            | Type       | Params | Mode
+-------------------------------------------------------
+0 | normalizer      | Normalizer | 0      | train
+1 | action_encoder  | MLP        | 4.7 K  | train
+2 | state_encoder   | PNN        | 804 K  | train
+3 | state_decoder   | PNN        | 555 K  | train
+4 | sa_memory_unit  | GRU        | 443 K  | train
+5 | sac_memory_unit | GRU        | 394 K  | train
+6 | sa_decoder      | PNN        | 263 K  | train
+7 | sac_decoder     | PNN        | 263 K  | train
+8 | mine_sa         | MINE       | 123 K  | train
+9 | mine_sac        | MINE       | 123 K  | train
+-------------------------------------------------------
+3.0 M     Trainable params
+0         Non-trainable params
+3.0 M     Total params
+11.907    Total estimated model params size (MB)
+48        Modules in train mode
+0         Modules in eval mode
+SLURM auto-requeueing enabled. Setting signal handlers.
+Epoch 249: 100%|██████████| 3/3 [00:04<00:00,  0.71it/s, v_num=lwto, train/loss=-17.3, val/loss=-16.8] 
+/zfsauton2/home/frankwu2/namrata/fusion-hub/.venv/lib/python3.10/site-packages/pytorch_lightning/loops/fit_loop.py:298: The number of training batches (3) is smaller than the logging interval Trainer(log_every_n_steps=50). Set a lower value for log_every_n_steps if you want to see logs for the training epoch.
+                                                                      
+`Trainer.fit` stopped: `max_epochs=250` reached.

ogbench/antmaze-medium-navigate-v0/2/wandb/run-20260501_062606-fom1lwto/files/requirements.txt

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+fonttools==4.62.1
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ogbench/antmaze-medium-navigate-v0/2/wandb/run-20260501_062606-fom1lwto/files/wandb-metadata.json

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+  "python":  "CPython 3.10.20",
+  "startedAt":  "2026-05-01T10:26:06.847899Z",
+  "args":  [
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+    "cfgs/pl_cfgs/dynamics",
+    "--config-name",
+    "dynamics_ifactor_ogbench",
+    "env_name=antmaze-medium-navigate-v0",
+    "seed=2"
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+  "program":  "/zfsauton2/home/frankwu2/namrata/fusion-hub/train_pl.py",
+  "codePath":  "train_pl.py",
+  "git":  {
+    "remote":  "https://github.com/namratadeka/fusion-hub.git",
+    "commit":  "f948f6da808c693a73595147daef5a9606ab86c3"
+  },
+  "email":  "zw2700@nyu.edu",
+  "root":  ".",
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+  "gpu":  "NVIDIA RTX A6000",
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+  "disk":  {
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+    "job_partition":  "general",
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+    "submit_host":  "rhea.int.autonlab.org",
+    "task_pid":  "33850",
+    "tasks_per_node":  "1",
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+    "tres_per_task":  "cpu=4"
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+  "writerId":  "bdanal52nsha0quc7k4dzsent5vgajbx"
+}

ogbench/antmaze-medium-navigate-v0/2/wandb/run-20260501_062606-fom1lwto/files/wandb-summary.json

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ogbench/antmaze-medium-navigate-v0/2/wandb/run-20260501_062606-fom1lwto/logs/debug-internal.log

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+{"time":"2026-05-01T06:41:34.935189497-04:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-05-01T06:41:34.935326927-04:00","level":"INFO","msg":"filestream: sending request","total_files":1,"console_offset":29,"console_lines":2,"complete":true,"exit_code":0}
+{"time":"2026-05-01T06:41:35.141402624-04:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-05-01T06:41:35.141550205-04:00","level":"INFO","msg":"stream: finishing up"}
+{"time":"2026-05-01T06:41:35.141581185-04:00","level":"INFO","msg":"handler: closed"}
+{"time":"2026-05-01T06:41:35.143611259-04:00","level":"INFO","msg":"sender: closed"}
+{"time":"2026-05-01T06:41:35.143632669-04:00","level":"INFO","msg":"stream: all finished"}